Abstract
The development in the design and control of aerial actuated monowing rotorcrafts (commonly known as monocopters) has grown steadily in the past decade. To date, multiple forms of it are being produced from extensive research, however, one area that remains unexplored in this research field is the extent of how we can utilize or exploit these aerial crafts for flights. Thus, the purpose of this paper is to present and demonstrate the conception, design, and control of a new actuated monowing rotorcraft (SICARO) that is capable of rotating in different directions to fly on either side of the wing faced up in a steady and stable manner. Besides going through the research in the methodology for both the design and control of this new platform, this paper also presents results in simulation that are transferred to real experiments for comparison. To validate the effectiveness of the SICARO, the craft is flown on both sides of the wing autonomously where it holds its position in cartesian space. The RMSE for the euclidean distance in the simulations and experiments is below 1m whilst maintaining a stable body attitude.